Floorplans are an essential representation that enables a wide range of applications in robotics, AR/VR, interior design, etc. Like prior work [1]}, [2]}, [3]}, [4]}, [5]}, we start from a 3D point cloud, which can easily be captured with RGB-D cameras, laser scanners or SfM systems.
Several works [6]}, [2]}, [1]}, [3]} have shown the effectiveness of projecting the raw 3D point data along the gravity axis, to obtain a 2D density map that highlights the building's structural elements (e.g.  walls).
We also employ this early transition to 2D image space.
The resulting density maps are compact and computationally efficient, but inherit the noise and data gaps of the underlying point clouds, hence floorplan reconstruction remains a challenging task.
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